CN108354779B - It is a kind of for assist manpower four refer to stretching routine software driver - Google Patents
It is a kind of for assist manpower four refer to stretching routine software driver Download PDFInfo
- Publication number
- CN108354779B CN108354779B CN201810259807.5A CN201810259807A CN108354779B CN 108354779 B CN108354779 B CN 108354779B CN 201810259807 A CN201810259807 A CN 201810259807A CN 108354779 B CN108354779 B CN 108354779B
- Authority
- CN
- China
- Prior art keywords
- silicone tube
- software driver
- layer silicone
- refer
- finger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 40
- 239000004744 fabric Substances 0.000 claims abstract description 29
- 239000011521 glass Substances 0.000 claims abstract description 26
- 239000000835 fiber Substances 0.000 claims abstract description 17
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 13
- 239000000741 silica gel Substances 0.000 claims abstract description 13
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 13
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 4
- 239000012530 fluid Substances 0.000 claims abstract description 3
- 210000003811 finger Anatomy 0.000 claims description 42
- 238000005452 bending Methods 0.000 claims description 26
- 229920001971 elastomer Polymers 0.000 claims description 25
- 238000010276 construction Methods 0.000 claims description 9
- 210000001145 finger joint Anatomy 0.000 claims description 7
- 210000000236 metacarpal bone Anatomy 0.000 claims description 7
- 229920002379 silicone rubber Polymers 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 210000003813 thumb Anatomy 0.000 claims description 6
- 229920006231 aramid fiber Polymers 0.000 claims description 2
- 239000003365 glass fiber Substances 0.000 claims description 2
- 238000004088 simulation Methods 0.000 abstract description 4
- 241000905957 Channa melasoma Species 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000001771 impaired effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003010 carpal bone Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000004898 kneading Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009304 pastoral farming Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of for assisting manpower four to refer to the software driver of stretching routine, including internal layer silicone tube, outer layer silicone tube, Kafra fiber line and three sections of glass fabrics；The front end of internal layer silicone tube is closed, and rear end is equipped with opening, for connecting with air pressure or fluid pressure drive device；The outer wall of internal layer silicone tube corresponding four refers to that the part of phalanges winds Kafra fiber line with double helix pattern；Three sections of glass fabrics be pasted on internal layer silicone tube away from finger side, position corresponds respectively to four fingers and palms bones and proximal phalanx connecting joint, proximal phalanx and middle phalanx connecting joint, middle phalanx and distal phalanx connecting joint；It including outer layer silica gel pipe sleeve outside layer silicone tube, combines closely, Kafra fiber line and glass fabric is fixed on the outer wall of internal layer silicone tube with internal layer silicone tube.The gloves realize that simulation four refers to stretching routine, auxiliary four fingering rows stretching, extension training by carrying the actuator.
Description
Technical field
The invention belongs to hand exoskeleton rehabilitation robot fields, more particularly, to one kind for assisting manpower four to refer to
The software driver of stretching routine.
Background technique
Nowadays social population's aging aggravates, and the number of the hemiplegia due to caused by the diseases such as cerebral apoplexy is more and more huger, together
When, the impaired number of the hand movement function as caused by the accidents such as production accident, traffic accident also increases year by year.These patients are past
Toward can't take care of oneself because of hand movement function obstacle, no small pressure is all brought to family and society.Document shows greatly
There is in various degree stiff all in flexion, muscle in the finger of most of patients, this is to need to assist suffering from by external force
The stretching, extension open movement of person's progress finger.Traditional hand rehabilitation mostly uses one-to-one doctor to carry out the machinery such as kneading drawing
Change movement, meanwhile, the rehabilitation state of patient is evaluated by doctor individual completely, and this rehabilitation training very labor intensive is controlled simultaneously
It treats costly, is unable to satisfy the demand of Most patients.
Hand exoskeleton rehabilitation soft robot can auxiliary rehabilitation exercise can save a large amount of manpower and material resources, and can
The assessment that real-time quantization is carried out to Rehabilitation level formulates corresponding rehabilitation training strategy in proper order according to the rehabilitation situation of patient
Progressive carry out rehabilitation, in the hope of reaching best rehabilitation training effect, while reducing the period of Rehabilitation.
Patent CN105496728A discloses the soft robot gloves for hand movement function rehabilitation, and the date of application is
On April 20th, 2016.The patient that the device can assist hand function impaired or lose carries out rehabilitation training, still, the dress
Set that there are the following problems:
1, the power part of the device is traction rope, and lead generally has trend from the front to the back, drawing-in motion
It is more stiff, and the skeletal form and proper motion state of human finger are not met, finger-joint is easily led in distraction procedure
Mutual extrusion, friction are used for a long time and are easy to generate secondary injury to patient hand；
2, the device differs larger with finger shape, poor with the matching of finger, and there is foreign body sensation in when wearing, uncomfortable.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of for assisting manpower four to refer to stretching, extension fortune
Dynamic software driver, by utilizing the double spiral shells of Kafra fiber line coiling using silicone tube as the nuclear structure of software driver
Spin line wraps up the phalanges position of silicone tube, while sticking glass fabric limits its freedom degree, is achieved in simulation manpower four and refers to
Bending stretching, extension and abduction exercise, the hand of wearer will not be caused to damage, it is highly-safe.
To achieve the goals above, the present invention provides a kind of for assisting manpower four to refer to the software driving of stretching routine
Device, including internal layer silicone tube, outer layer silicone tube, Kafra fiber line and three sections of glass fabrics；
The front end of internal layer silicone tube is closed, and rear end is equipped with opening, for connecting with air pressure or fluid pressure drive device；Internal layer silicon
The outer wall of sebific duct corresponding four refers to that the part of phalanges winds Kafra fiber line with double helix pattern；Three sections of glass fabrics are pasted
Deviate from finger side in internal layer silicone tube, position correspond respectively to four fingers and palms bones and proximal phalanx connecting joint, proximal phalanx and
Middle phalanx connecting joint, middle phalanx and distal phalanx connecting joint；Including outer layer silica gel pipe sleeve outside layer silicone tube, with internal layer
Silicone tube is combined closely, and Kafra fiber line and glass fabric is fixed on the outer wall of internal layer silicone tube.
Further, internal layer silicone tube corresponds to the part of finger metacarpal bone integrally formed with flat silica gel seat, internal layer silica gel
Pipe is located at the part of flat silica gel seat front end for semicolumn construction, and the plane of semicolumn construction is arranged back on finger, both ends glass
Glass fiber cloth is pasted in the plane of semicolumn construction.
Further, outside semicolumn construction, outer layer silicone tube refers to outer layer silica gel pipe sleeve towards finger side corresponding four
Integrally formed with three sections of concave silicon rubber fixing seats, adjacent concave rubber is solid for proximal phalanx, middle phalanx and distal phalanx position
Connection cross section between reservation is semicircle, and semicircular straight flange is arranged backwards to finger.
Further, outer layer silicone tube rear end is connect with flat silica gel seat, and conformal setting.
Further, glass fabric is rectangle, and width is consistent with finger width, and length is slightly longer than finger-joint
Movable outer diameter, to cover finger-joint scope of activities；The aperture of glass fabric is 0.4*0.4mm.
Further, which includes: software driver fixing sleeve, flexible bending sensor, flexible bending biography
Sensor fixing sleeve, rubber fixing seat, pliable pressure sensor, pliable pressure sensor mounting sleeve and fingertip；
Outer layer silicone tube is fixed in software driver fixing sleeve；
Flexible bending sensor is arranged in outer layer silicone tube lower surface and software driver fixing sleeve along axis direction
Between inner bottom surface, it is fixed on by flexible bending sensor mounting sleeve in the inner bottom surface of software driver fixing sleeve；
Flat fixed base rear end of the rubber fixed seating in software driver, lower part and the software driver of rubber fixing seat
The rear end of fixing sleeve is connected；
Pliable pressure sensor is fixed on fingertip inner bottom surface by pliable pressure sensor mounting sleeve, and fingertip is fixed
In software driver fixing sleeve end lower surface.
Further, fingertip, software driver fixing sleeve, flexible bending sensor mounting sleeve and pliable pressure sensor
At least one of fixing sleeve is made of aramid fiber stretch fabric.
Further, fingertip size braces patient's thumb less than normal thumb size to provide appropriate pretightning force
The end of distal phalanx and proximal phalanx.
Further, the lower section that software driver fixing sleeve corresponds to the position of rubber fixing seat is equipped with snap fastener, is used for
It is connect with the snap fastener of Corresponding matching on gloves.
To achieve the goals above, the present invention also provides a kind of for assisting manpower four to refer to the gloves of stretching routine, packet
Include any one mentioned-above software driver.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial to effect
Fruit:
1, use software driver as executing agency in the present invention, material of main part is silicone tube, can change itself
Form adapts to current environment, and will not cause excessive shock to patient hand load, meanwhile, the good flexibility of device will not
Pull Deng secondary injuries are caused to patient, the hand of wearer will not be caused to damage, it is highly-safe, can using hydraulic or
Air pressure driving, has very high power ratio.
2, three sections of glass fabrics in software driver cannot stretch, it will limit the bottom elongation of flexible actuator,
For flexible actuator in the state of inflation, the place of sticking glass fabric cannot be axially elongated, in actuator axis direction
On, the ratio of elongation axis lower extended amount on axis top is big, therefore just will form bending state, is achieved in simulation manpower four
The bending stretching routine of finger, the finger for being able to drive patients with cerebral apoplexy or finger muscles impaired subjects carry out stretching routine rehabilitation instruction
Practice.
Detailed description of the invention
Fig. 1 is manpower thumb phalanges bone structure chart；
Fig. 2 is a kind of software device for rehabilitation composition frame diagram for assisting four articulations digitorum manus to complete stretching routine；
Fig. 3 is a kind of for assisting four articulations digitorum manus to complete the software device for rehabilitation auxiliary structure chart of stretching routine, wherein 3 (a)
It is assembling figure for exploded view, 3 (b)；
Fig. 4 is a kind of for assisting four articulations digitorum manus to complete the software device for rehabilitation shape assumption diagram of stretching routine；
Fig. 5 is a kind of driver internal layer actuating structure of software device for rehabilitation for assisting four articulations digitorum manus to complete stretching routine
Schematic diagram；
Fig. 6 is a kind of driver motion principle signal of software device for rehabilitation for assisting four articulations digitorum manus to complete stretching routine
Figure；
Fig. 7 is software driver fixed seat structure figure.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- flexible actuator, 2- flexible bending sensor mounting sleeve, 3- flexible bending sensor, 4- software driver are fixed
Set, 5- fingertip, 6- pliable pressure sensor, 7- pliable pressure sensor mounting sleeve, 8-4mm tracheae, 9- rubber fixing seat,
10- snap fastener, 11- knuckle, 12- software driver top, 13- class finger tip shape software driver end, 14- software driver
Air pipe passway, 15- software driver lower part concave fixing seat, 16- software driver inner wall, 17- double helix Kafra fiber line,
18- glass fabric, 19- software driver inflation figure, 20- software driver inflated elongation schematic diagram, the driving of 21- software
Device inflates curved schematic, 22- rubber fixing seat outer ring, 23- rubber fixing seat inner ring, 24- rubber fixing seat bottom curved surface.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Before elaborating to the present embodiment, the biological skeletal structure of first opponent is introduced.
Fig. 1 is the skeletal structure of the left hand from dorsal side, as shown in Figure 1, be connected with carpal bone be thumb with
And four refer to metacarpal bone, four refer to have three section phalanges constitute, be proximal phalanx, middle phalanx and distal phalanx respectively.Wherein nearly section
Phalanges is connected with metacarpal bone, and finger can complete bending and stretching movement.And hand feature capability impaired patients finger is mostly in
Bending state needs external force to assist it to carry out stretching routine.
It is provided by the invention a kind of for assisting four articulations digitorum manus to complete the software driver of stretching routine in the present embodiment.
Fig. 2 is a kind of composition frame diagram of software driver for assisting four articulations digitorum manus to complete stretching routine, it includes
Software driver, flexible bending sensor, pliable pressure sensor, finger-stall, rubber fixing seat, wherein software driver is main
There are silicon rubber, Kafra fiber and glass fabric to be mixed, finger-stall includes that fingertip, knuckle and driver are fixed
Set.
As shown in Fig. 3, Fig. 7, software driver includes flexible actuator 1, flexible bending sensor mounting sleeve 2, flexible bending
Bent sensor 3, software driver fixing sleeve 4, fingertip 5, pliable pressure sensor 6, pliable pressure sensor mounting sleeve 7,4mm
Tracheae 8, rubber fixing seat 9, snap fastener 10 and knuckle 11.
Flexible actuator 1 is fixed on finger-stall by driver fixing sleeve 4, and flexible bending sensor 3 is caused along flexibility
The axis direction arrangement of dynamic device 1, is fixed in finger-stall middle layer, flexible tracheae 8 is inserted into soft by flexible sensor fixing sleeve 2
In the gas tube orifice of property actuator 1, and certain pretightning force is generated by the silicon rubber of ontology.Software driver air pipe passway passes through
The aperture of the inner wall 21 of the 21. rubber fixing seat of inner wall of rubber fixing seat 9 is less than software driver air pipe passway outer wall, can be tight
Tight buckles up air pipe passway, prevents software internal drive gas from leaking.
The bottom 24 of rubber fixing seat 9 is connected with the top of snap fastener 10, and the bottom 24 of rubber fixing seat is concave curved surface, energy
Enough and manpower metacarpal bone is wanted to be bonded, and improves comfort.Pliable pressure sensor 7 is fixed on finger by pliable pressure sensor mounting sleeve
In point set 5, fingertip 5 and knuckle 11 link together with the sewing of finger-stall 4, are all made of elastic cloth, can guarantee soft
Body driver and finger fit closely.Software driver air pipe passway passes through the inner wall 23 of rubber fixing seat 8.Rubber fixing seat
The aperture of inner wall 23 is less than software driver air pipe passway outer wall, tightly can buckle up air pipe passway, prevent software driver
Internal gas leakage.The bottom 24 of rubber fixing seat 8 is connected with the top of snap fastener 10, and the bottom 24 of rubber fixing seat is concave curved
Face can fit with manpower metacarpal bone, improve comfort.
Fig. 4 is the outline drawing of flexible actuator 1, wherein the outer layer silicone tube front end 13 of software driver (finger tip direction
End) be it is flat, the top 12 of outer layer silicone tube is oblong-shaped.The molding finger joint fixing seat of outer layer silicone tube portion integral
15 be concave curved planar, and one shares three sections, respectively corresponds proximal phalanx, middle phalanx and distal phalanx, the construction of rest part
Section is semi-circular cross-section.The convex surface shape of finger joint fixing seat 15 and Fingers back coincide, and can guarantee that driver is started in band
Finger will not be along finger axis runout, to reach good synkinesia effect when doing stretching routine.The transition structure of semi-circular cross-section
Making has adequately compression resigning performance and stretching, extension freedom, will not oppress the joint of finger.
Internal layer silicone tube structural schematic diagram such as Fig. 5 of flexible actuator 1, including Kafra fiber line 17, silicon rubber ontology
16, glass fabric 18.It is three sections that wherein glass fabric 18, which divides, the half of every segment length and manpower articulations digitorum manus, according to
Certain spacing pastes the bottom of flexible bending driving respectively, and Kafra fiber line 18 is wrapped in flexibility with fixed helical angle
The outside of driver winds twice back and forth, forms bifilar helix form.The position that 16 rear end of silicon rubber ontology corresponds to metacarpal bone is flat
Flat fixing seat.
The working principle of software driver such as Fig. 6, wherein 19 indicate semicircle Shape closed silicon rubber inner cavity in periphery without appointing
Under what is constrained, inflated to inside inner cavity, it can axially elongation and along being radially expanded and be upturned.Wherein 20 indicate half
The double helix Kafra fiber line wound on the outer wall of round rubber inner cavity, then inflated to inner cavity the inside, Kafra fiber line meeting
Limit it causes flexible actuator that can only axially extend along being radially expanded, and is upturned.Wherein 21 indicate in software
Driver bottom section sticking glass fabric.Glass fabric cannot stretch, it will limit the bottom elongation of flexible actuator,
For flexible actuator in the state of inflation, the place of sticking glass fabric cannot be axially elongated, in actuator axis direction
On, the ratio of elongation axis lower extended amount on axis top is big, therefore just will form bending state.It is in double helix braid angle
5 °, glass fabric aperture be 0.4mm*0.4mm when simulation effect it is best, wear the most comfortable.(do not scheme in other embodiments
Show), the single-screw braid angle of Kafra fiber line is 3 °~5 °, and double helix braid angle is 4 °~6 °.
Flexible bending sensor can assist patient's finger to acquire finger movement when carrying out stretching routine in software driver
Angle information.Flexible bending sensor is connected to voltage acquisition module and can be achieved with to finger bending angle information collection.
Pliable pressure sensor can assist patient's finger to acquire finger fingertip when carrying out stretching routine in software driver
Pressure information, by detect pressure information can prevent patient occur spasm.Pliable pressure sensor is connected to voltage acquisition mould
Block can be achieved with to finger pressure information collection.
When using a kind of software driver for assisting four to refer to finger joint completion stretching routine provided by the invention, patient is worn
Good device, device use Grazing condition material, and therefore, after wearing, whole device can be in the flexion as patient's finger.
Fingertip, knuckle can guarantee that software driver is fitted closely with patient's finger, the software driving being worn on four fingers in this way
Device carries out under the action of power source that the finger of patient is driven to carry out stretching routine while stretching routine again, and patient is helped to carry out
Rehabilitation training.
The equipment for controlling the gas pressure in software driver cavate can be using conventional air pressure, hydraulic device, such as electricity
Dynamic air compressor machine, foot-propelled air pump, electro-hydraulic press etc..
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that including internal layer silicone tube, outer layer
Silicone tube, Kafra fiber line, three sections of glass fabrics, software driver fixing sleeve, flexible bending sensor, flexible bending pass
Sensor fixing sleeve, rubber fixing seat, pliable pressure sensor, pliable pressure sensor mounting sleeve and fingertip；
The front end of internal layer silicone tube is closed, and rear end is equipped with opening, for connecting with air pressure or fluid pressure drive device；Internal layer silicone tube
Outer wall corresponding four refer to that the part of phalanges winds Kafra fiber line with double helix pattern；In three sections of glass fabrics are pasted on
Layer silicone tube deviates from finger side, and position corresponds respectively to four fingers and palms bones and proximal phalanx connecting joint, proximal phalanx and middle section
Phalanges connecting joint, middle phalanx and distal phalanx connecting joint；Including outer layer silica gel pipe sleeve outside layer silicone tube, with internal layer silica gel
Pipe is combined closely, and Kafra fiber line and glass fabric is fixed on the outer wall of internal layer silicone tube；
Outer layer silicone tube is fixed in software driver fixing sleeve；
Flexible bending sensor is arranged in the inside of outer layer silicone tube lower surface and software driver fixing sleeve along axis direction
Between bottom surface, it is fixed on by flexible bending sensor mounting sleeve in the inner bottom surface of software driver fixing sleeve；
Rubber fixed seating in the flat fixed base rear end of software driver, fix by lower part and the software driver of rubber fixing seat
The rear end of set is connected；
Pliable pressure sensor is fixed on fingertip inner bottom surface by pliable pressure sensor mounting sleeve, and fingertip is fixed on soft
Body driver fixing sleeve end lower surface.
2. as described in claim 1 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that interior
Layer silicone tube corresponds to the part of finger metacarpal bone integrally formed with flat silica gel seat, and internal layer silicone tube is located at flat silica gel seat front end
Part be semicolumn construction, the plane of semicolumn construction is arranged back on finger, and both ends glass fabric is pasted on semicircle
In the plane of column construction.
3. as claimed in claim 2 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that outer
Layer silica gel pipe sleeve outside semicolumn construction, proximal phalanx that outer layer silicone tube refers to towards finger side corresponding four, middle phalanx and
Integrally formed with three sections of concave silicon rubber fixing seats, the interconnecting piece between adjacent concave rubber fixing seat is transversal for distal phalanx position
Face is semicircle, and semicircular straight flange is arranged backwards to finger.
4. as claimed in claim 3 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that outer
Layer silicone tube rear end is connect with flat silica gel seat, and conformal setting.
5. as described in claim 1 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that glass
Glass fiber cloth is rectangle, and width is consistent with finger width, and length is slightly longer than finger-joint activity outer diameter, to cover finger
Range of motion；The aperture of glass fabric is 0.4*0.4mm.
6. as described in claim 1 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that refer to
At least one of sharp set, software driver fixing sleeve, flexible bending sensor mounting sleeve and pliable pressure sensor mounting sleeve
It is made of aramid fiber stretch fabric.
7. as claimed in claim 6 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that refer to
Point set size is less than normal thumb size and braces patient's thumb distal phalanx and proximal phalanx to provide appropriate pretightning force
End.
8. as described in claim 1 a kind of for assisting manpower four to refer to the software driver of stretching routine, which is characterized in that soft
The lower section that body driver fixing sleeve corresponds to the position of rubber fixing seat is equipped with snap fastener, for the son with Corresponding matching on gloves
Female thread connection.
9. a kind of for assisting manpower four to refer to the gloves of stretching routine, which is characterized in that including claim 1~8 any one
The software driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259807.5A CN108354779B (en) | 2018-03-27 | 2018-03-27 | It is a kind of for assist manpower four refer to stretching routine software driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810259807.5A CN108354779B (en) | 2018-03-27 | 2018-03-27 | It is a kind of for assist manpower four refer to stretching routine software driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108354779A CN108354779A (en) | 2018-08-03 |
| CN108354779B true CN108354779B (en) | 2019-11-12 |
Family
ID=63001578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810259807.5A Active CN108354779B (en) | 2018-03-27 | 2018-03-27 | It is a kind of for assist manpower four refer to stretching routine software driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108354779B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110269776B (en) * | 2019-06-28 | 2021-09-07 | 清华大学深圳研究生院 | Finger-assisted rehabilitation finger stall based on pneumatic soft actuator and manufacturing method thereof |
| CN110840706A (en) * | 2019-12-06 | 2020-02-28 | 上海势登坡智能科技有限公司 | Supplementary recovered drive arrangement of hand |
| CN111376298A (en) * | 2020-04-30 | 2020-07-07 | 徐航 | Bionic robot hand joint connection and driving method |
| CN111821140B (en) * | 2020-06-30 | 2022-06-28 | 南京麦澜德医疗科技股份有限公司 | Wearable software hand function rehabilitation gloves |
| CN114012745B (en) * | 2021-10-26 | 2023-03-14 | 杭州电子科技大学 | Soft detection robot with paper folding structure and driving method thereof |
| CN114732677A (en) * | 2022-05-16 | 2022-07-12 | 合肥工业大学 | Soft actuator and rehabilitation training device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102811690B (en) * | 2010-03-23 | 2016-11-09 | 伊德洛有限公司 | Hand rehabilitation device |
| CN105496728B (en) * | 2016-01-12 | 2018-08-31 | 上海交通大学 | Soft robot gloves for hand movement function rehabilitation |
| CN107184365B (en) * | 2017-07-07 | 2019-04-05 | 北京恒通信佳科技发展有限公司 | A kind of finger joint recovery movement auxiliary member |
| CN107184366B (en) * | 2017-07-07 | 2018-04-17 | 北京恒通信佳科技发展有限公司 | A kind of finger joint recovery device |
-
2018
- 2018-03-27 CN CN201810259807.5A patent/CN108354779B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108354779A (en) | 2018-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108354779B (en) | It is a kind of for assist manpower four refer to stretching routine software driver | |
| CN108371609A (en) | A kind of software driver for assisting human hand thumb stretching, extension and abduction | |
| CN108371610B (en) | A kind of modularization software restoring gloves and system for assisted finger stretching routine | |
| US20210079935A1 (en) | Multi-Segment Reinforced Actuators and Applications | |
| CN106074074B (en) | A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer | |
| CN108524193B (en) | Hand rehabilitation device, rehabilitation training device and control method of hand rehabilitation device | |
| CN212522360U (en) | Integral software booster unit and limbs helping hand training ware | |
| WO2019007312A1 (en) | Knuckle rehabilitation device | |
| CN109172265B (en) | Finger exoskeleton robot | |
| US20210196555A1 (en) | Wearable robot for assisting upper limb movement by using artificial muscle | |
| CN110269779B (en) | Hand rehabilitation device based on flexible driver | |
| US20060005296A1 (en) | Human motor control device and methods | |
| CN109363886B (en) | Elbow joint rehabilitation training device and implementation method | |
| CN208645318U (en) | Software pneumatic type joint assistance equipment | |
| CN211512540U (en) | Concave-convex type resettable multi-section flexible rehabilitation glove | |
| CN212016619U (en) | Radial nerve injury hand function exerciser | |
| CN111821140B (en) | Wearable software hand function rehabilitation gloves | |
| CN112545830A (en) | Flexible exoskeleton glove | |
| WO2020202418A1 (en) | Joint motion assistance device and method for mounting joint motion assistance device | |
| CN116000902A (en) | Multi-air-cavity rigidity-variable soft robot driving device and application thereof | |
| CN211067800U (en) | Hand rehabilitation device based on flexible driver | |
| CN112168619A (en) | Hand rehabilitation device and method based on hybrid drive multi-mode | |
| CN210991568U (en) | Wireless control's hand rehabilitation training gloves | |
| US20220218507A1 (en) | Rehabilitation glove | |
| CN211187702U (en) | External fixation brace for functional rehabilitation of finger extensor tendon |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |